Kinematic chain abstraction as a set of joints and sensors. More...

#include <KinematicChain.h>

Inheritance diagram for XBot::KinematicChain:

Collaboration diagram for XBot::KinematicChain:

Public Types
typedef std::shared_ptr< KinematicChain >	Ptr

typedef std::shared_ptr< const KinematicChain >	ConstPtr

Public Member Functions
	KinematicChain ()
	Default constructor. More...

	KinematicChain (const std::string &chain_name, const XBot::XBotCoreModel &XBotModel)
	Construct a Kinematic Chain using the chain name and the XBotCoreModel. More...

	KinematicChain (const std::string &chain_name)
	Construct a Kinematic Chain using the chain name. More...

	KinematicChain (const KinematicChain &other)
	Custom copy constructor, which guarantees independence between copies by performing a deep copy. More...

KinematicChain &	operator= (const KinematicChain &rhs)
	Custom copy assignment, which guarantees independence between copies by performing a deep copy. More...

bool	getChainState (const std::string &state_name, JointIdMap &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

bool	getChainState (const std::string &state_name, JointNameMap &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

bool	getChainState (const std::string &state_name, Eigen::VectorXd &q) const
	Gets the chain joints group state configuration as specified in the robot SRDF. More...

std::map< std::string, ForceTorqueSensor::ConstPtr >	getForceTorque () const
	Getter for the force-torque sensor map pertaining to the chain. More...

std::map< std::string, ImuSensor::ConstPtr >	getImu () const
	Getter for the IMU sensor map pertaining to the chain. More...

ForceTorqueSensor::ConstPtr	getForceTorque (const std::string &parent_link_name) const
	Returns a force-torque sensor given its parent-link name. More...

ImuSensor::ConstPtr	getImu (const std::string &parent_link_name) const
	Returns an IMU sensor given its parent-link name. More...

void	getJointLimits (Eigen::VectorXd &q_min, Eigen::VectorXd &q_max) const
	Gets a vector of the chain joint limits, as specified in the URDF file. More...

void	getVelocityLimits (Eigen::VectorXd &qdot_max) const
	Gets a vector of the chain joint velocity limits, as specified in the URDF file. More...

void	getEffortLimits (Eigen::VectorXd &tau_max) const
	Gets a vector of the chain joint effort limits, as specified in the URDF file. More...

void	getJointLimits (int i, double &q_min, double &q_max) const
	Gets the lower and upper joint limits of the i-th joint in the chain (from base link to tip link) More...

void	getVelocityLimits (int i, double &qdot_max) const
	Gets the velocity limit of the i-th joint in the chain (from base link to tip link) More...

void	getEffortLimits (int i, double &tau_max) const
	Gets the effort limit of the i-th joint in the chain (from base link to tip link) More...

bool	checkJointLimits (const Eigen::VectorXd &q, std::vector< std::string > &violating_joints) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot, std::vector< std::string > &violating_joints) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau, std::vector< std::string > &violating_joints) const
	Check the input joint effort vector against joint limits. More...

bool	checkJointLimits (const Eigen::VectorXd &q) const
	Check the input joint position vector against joint limits. More...

bool	checkVelocityLimits (const Eigen::VectorXd &qdot) const
	Check the input joint velocity vector against joint limits. More...

bool	checkEffortLimits (const Eigen::VectorXd &tau) const
	Check the input joint effort vector against joint limits. More...

bool	enforceJointLimits (Eigen::VectorXd &q) const
	Modifies the input joint position vector by enforcing joint limits. More...

bool	enforceVelocityLimit (Eigen::VectorXd &qdot) const
	Modifies the input joint velcoity vector by enforcing joint limits. More...

bool	enforceEffortLimit (Eigen::VectorXd &tau) const
	Modifies the input joint effort vector by enforcing effort limits. More...

bool	mapToEigen (const JointIdMap &id_map, Eigen::VectorXd &eigen_vector) const
	Converts a state vector for an arbitrary subset of the chain state (specified as a JointIdMap) to its Eigen representation. More...

bool	mapToEigen (const JointNameMap &name_map, Eigen::VectorXd &eigen_vector) const
	Converts a state vector for an arbitrary subset of the chain state (specified as a JointNameMap) to its Eigen representation. More...

bool	eigenToMap (const Eigen::VectorXd &eigen_vector, JointIdMap &id_map) const
	Converts a state vector for the whole chain to its JointIdMap representation. More...

bool	eigenToMap (const Eigen::VectorXd &eigen_vector, JointNameMap &name_map) const
	Converts a state vector for the whole chain to its JointNameMap representation. More...

void	pushBackJoint (Joint::Ptr joint)
	add a joint in the kinematic chain pushing it in the end of the chain More...

void	removeJoint (int i)
	remove the i-th joint in the kinematic chain More...

bool	isVirtual () const
	Method for determining whether a chain is virtual, i.e. More...

const std::string &	getChainName () const
	Method returning the name of the chain. More...

const std::string &	getBaseLinkName () const
	Method returning the name of the chain base link. More...

const std::string &	getTipLinkName () const
	Method returning the name of the chain tip link. More...

const std::string &	getChildLinkName (int i) const
	Method returning the name of the child link corresponding to the i-th joint of the chain. More...

const std::string &	getParentLinkName (int i) const
	Method returning the name of the parent link corresponding to the i-th joint of the chain. More...

const std::string &	getJointName (int i) const
	Method returning the name of the i-th joint of the chain. More...

const std::vector< std::string > &	getJointNames () const
	Returns a vector containing the namess of all joints in the chain, from base link to tip link. More...

int	getJointId (int i) const
	Method returning the ID of the i-th joint of the chain. More...

int	getChainDofIndex (int joint_id) const
	Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint id. More...

int	getChainDofIndex (const std::string &joint_name) const
	Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint name. More...

bool	hasJoint (int joint_id) const
	check if the chain has a joint with a certain id More...

bool	hasJoint (const std::string &joint_name) const
	check if the chain has a joint with a certain name More...

const std::vector< int > &	getJointIds () const
	Returns a vector containing the IDs of all joints in the chain, from base link to tip link. More...

int	getJointNum () const
	Method returning the number of enabled joints belonging to the chain. More...

const std::vector< urdf::JointConstSharedPtr > &	getUrdfJoints () const
	Method returning the vector of urdf::Joints corresponding to the chain. More...

const std::vector< urdf::LinkConstSharedPtr > &	getUrdfLinks () const
	Method returning the vector of urdf::Links corresponding to the chain. More...

void	shallowCopy (const KinematicChain &chain)
	Updates the current object (this) by performing a shallow copy with the chain passed as argument. More...

Joint::ConstPtr	getJoint (int i) const
	Getter for the i-th Joint Ptr. More...

bool	getJointPosition (Eigen::VectorXd &q) const

bool	getMotorPosition (Eigen::VectorXd &q) const

bool	getJointVelocity (Eigen::VectorXd &qdot) const

bool	getMotorVelocity (Eigen::VectorXd &qdot) const

bool	getJointAcceleration (Eigen::VectorXd &qddot) const

bool	getJointEffort (Eigen::VectorXd &tau) const

bool	getTemperature (Eigen::VectorXd &temp) const

bool	getJointPosition (JointIdMap &q) const

bool	getMotorPosition (JointIdMap &q) const

bool	getJointVelocity (JointIdMap &qdot) const

bool	getMotorVelocity (JointIdMap &qdot) const

bool	getJointAcceleration (JointIdMap &qddot) const

bool	getJointEffort (JointIdMap &tau) const

bool	getTemperature (JointIdMap &temp) const

bool	getJointPosition (JointNameMap &q) const

bool	getMotorPosition (JointNameMap &q) const

bool	getJointVelocity (JointNameMap &qdot) const

bool	getMotorVelocity (JointNameMap &qdot) const

bool	getJointAcceleration (JointNameMap &qddot) const

bool	getJointEffort (JointNameMap &tau) const

bool	getTemperature (JointNameMap &temp) const

double	getJointPosition (int index) const

double	getMotorPosition (int index) const

double	getJointVelocity (int index) const

double	getMotorVelocity (int index) const

double	getJointAcceleration (int index) const

double	getJointEffort (int index) const

double	getTemperature (int index) const

bool	setJointPosition (const Eigen::VectorXd &q)

bool	setMotorPosition (const Eigen::VectorXd &q)

bool	setJointVelocity (const Eigen::VectorXd &qdot)

bool	setMotorVelocity (const Eigen::VectorXd &qdot)

bool	setJointAcceleration (const Eigen::VectorXd &qddot)

bool	setJointEffort (const Eigen::VectorXd &tau)

bool	setTemperature (const Eigen::VectorXd &temp)

bool	setJointPosition (const JointIdMap &q)

bool	setMotorPosition (const JointIdMap &q)

bool	setJointVelocity (const JointIdMap &qdot)

bool	setMotorVelocity (const JointIdMap &qdot)

bool	setJointAcceleration (const JointIdMap &qddot)

bool	setJointEffort (const JointIdMap &tau)

bool	setTemperature (const JointIdMap &temp)

bool	setJointPosition (const JointNameMap &q)

bool	setMotorPosition (const JointNameMap &q)

bool	setJointVelocity (const JointNameMap &qdot)

bool	setMotorVelocity (const JointNameMap &qdot)

bool	setJointAcceleration (const JointNameMap &qddot)

bool	setJointEffort (const JointNameMap &tau)

bool	setTemperature (const JointNameMap &temp)

bool	setJointPosition (int i, double q)

bool	setMotorPosition (int i, double q)

bool	setJointVelocity (int i, double qdot)

bool	setMotorVelocity (int i, double qdot)

bool	setJointAcceleration (int i, double qddot)

bool	setJointEffort (int i, double tau)

bool	setTemperature (int i, double temp)

bool	getPositionReference (Eigen::VectorXd &q) const

bool	getVelocityReference (Eigen::VectorXd &qdot) const

bool	getEffortReference (Eigen::VectorXd &tau) const

bool	getStiffness (Eigen::VectorXd &K) const

bool	getDamping (Eigen::VectorXd &D) const

bool	getPositionReference (JointIdMap &q) const

bool	getVelocityReference (JointIdMap &qdot) const

bool	getEffortReference (JointIdMap &tau) const

bool	getStiffness (JointIdMap &K) const

bool	getDamping (JointIdMap &D) const

bool	getPositionReference (JointNameMap &q) const

bool	getVelocityReference (JointNameMap &qdot) const

bool	getEffortReference (JointNameMap &tau) const

bool	getStiffness (JointNameMap &K) const

bool	getDamping (JointNameMap &D) const

double	getPositionReference (int index) const

double	getVelocityReference (int index) const

double	getEffortReference (int index) const

double	getStiffness (int index) const

double	getDamping (int index) const

bool	setPositionReference (const Eigen::VectorXd &q)

bool	setVelocityReference (const Eigen::VectorXd &qdot)

bool	setEffortReference (const Eigen::VectorXd &tau)

bool	setStiffness (const Eigen::VectorXd &K)

bool	setDamping (const Eigen::VectorXd &D)

bool	setPositionReference (const JointIdMap &q)

bool	setVelocityReference (const JointIdMap &qdot)

bool	setEffortReference (const JointIdMap &tau)

bool	setStiffness (const JointIdMap &K)

bool	setDamping (const JointIdMap &D)

bool	setPositionReference (const JointNameMap &q)

bool	setVelocityReference (const JointNameMap &qdot)

bool	setEffortReference (const JointNameMap &tau)

bool	setStiffness (const JointNameMap &K)

bool	setDamping (const JointNameMap &D)

bool	setPositionReference (int i, double q)

bool	setVelocityReference (int i, double qdot)

bool	setEffortReference (int i, double tau)

bool	setStiffness (int i, double K)

bool	setDamping (int i, double D)

template<typename... SyncFlags>
bool	syncFrom (const KinematicChain &other, SyncFlags... flags)
	Synchronize the current KinematicChain with another KinematicChain object. More...

void	print () const
	Prints a pretty table about chain state. More...

void	printTracking () const
	Prints a pretty table about chain tracking. More...

Protected Member Functions
Joint::Ptr	getJointInternal (int i) const
	Getter for the i-th Joint Ptr. More...

std::map< std::string, ForceTorqueSensor::Ptr >	getForceTorqueInternal () const

std::map< std::string, ImuSensor::Ptr >	getImuInternal () const

Protected Attributes
std::map< std::string, XBot::Joint::Ptr >	_joint_name_map

std::map< int, XBot::Joint::Ptr >	_joint_id_map

std::vector< XBot::Joint::Ptr >	_joint_vector

std::vector< ForceTorqueSensor::Ptr >	_ft_vector

std::map< std::string, ForceTorqueSensor::Ptr >	_ft_map

std::vector< ImuSensor::Ptr >	_imu_vector

std::map< std::string, ImuSensor::Ptr >	_imu_map

Friends
std::ostream &	operator<< (std::ostream &os, const XBot::KinematicChain &c)

Detailed Description

Kinematic chain abstraction as a set of joints and sensors.

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const KinematicChain> XBot::KinematicChain::ConstPtr

◆ Ptr

typedef std::shared_ptr<KinematicChain> XBot::KinematicChain::Ptr

Constructor & Destructor Documentation

◆ KinematicChain() [1/4]

XBot::KinematicChain::KinematicChain ( )

Default constructor.

◆ KinematicChain() [2/4]

XBot::KinematicChain::KinematicChain	(	const std::string &	chain_name,
		const XBot::XBotCoreModel &	XBotModel
	)

Construct a Kinematic Chain using the chain name and the XBotCoreModel.

Parameters

chain_name	the name of the chain
XBotModel	the model built using XBotModel

◆ KinematicChain() [3/4]

XBot::KinematicChain::KinematicChain ( const std::string & chain_name )

explicit

Construct a Kinematic Chain using the chain name.

Parameters

chain_name the name of the chain

◆ KinematicChain() [4/4]

XBot::KinematicChain::KinematicChain ( const KinematicChain & other )

Custom copy constructor, which guarantees independence between copies by performing a deep copy.

Member Function Documentation

◆ checkEffortLimits() [1/2]

bool XBot::KinematicChain::checkEffortLimits ( const Eigen::VectorXd & tau ) const

Check the input joint effort vector against joint limits.

Parameters

tau	A joint effort vector to be checked against joint limits, ordered from base link to tip link.

Returns: True if all joints are within their limits.

◆ checkEffortLimits() [2/2]

bool XBot::KinematicChain::checkEffortLimits	(	const Eigen::VectorXd &	tau,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint effort vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

tau	A joint effort vector to be checked against joint limits, ordered from base link to tip link.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ checkJointLimits() [1/2]

bool XBot::KinematicChain::checkJointLimits ( const Eigen::VectorXd & q ) const

Check the input joint position vector against joint limits.

Parameters

q	A joint position vector to be checked against joint limits, ordered from base link to tip link.

Returns: True if all joints are within their limits.

◆ checkJointLimits() [2/2]

bool XBot::KinematicChain::checkJointLimits	(	const Eigen::VectorXd &	q,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint position vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

q	A joint position vector to be checked against joint limits, ordered from base link to tip link.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ checkVelocityLimits() [1/2]

bool XBot::KinematicChain::checkVelocityLimits ( const Eigen::VectorXd & qdot ) const

Check the input joint velocity vector against joint limits.

Parameters

qdot	A joint velocity vector to be checked against joint limits, ordered from base link to tip link.

Returns: True if all joints are within their limits.

◆ checkVelocityLimits() [2/2]

bool XBot::KinematicChain::checkVelocityLimits	(	const Eigen::VectorXd &	qdot,
		std::vector< std::string > &	violating_joints
	)		const

Check the input joint velocity vector against joint limits.

The names of joints violating the limits are pushed into the violating_joints vector (which is not cleared before being filled)

Parameters

qdot	A joint velocity vector to be checked against joint limits, ordered from base link to tip link.
violating_joints	The vector of the names of joints violating the limits. Note that this is not cleared before use.

Returns: True if all joints are within their limits.

◆ eigenToMap() [1/2]

bool XBot::KinematicChain::eigenToMap	(	const Eigen::VectorXd &	eigen_vector,
		JointIdMap &	id_map
	)		const

Converts a state vector for the whole chain to its JointIdMap representation.

Note that the output map is not cleared before it is filled. It is the responsibility of the user to do so if required.

Parameters

eigen_vector	A state vector for the whole robot (its size must match getJointNum())
id_map	The output map to be filled

Returns: True if the input vector is valid.

◆ eigenToMap() [2/2]

bool XBot::KinematicChain::eigenToMap	(	const Eigen::VectorXd &	eigen_vector,
		JointNameMap &	name_map
	)		const

Converts a state vector for the whole chain to its JointNameMap representation.

Note that the output map is not cleared before it is filled. It is the responsibility of the user to do so if required.

Parameters

eigen_vector	A state vector for the whole robot (its size must match getJointNum())
name_map	The output map to be filled

Returns: True if the input vector is valid.

◆ enforceEffortLimit()

bool XBot::KinematicChain::enforceEffortLimit ( Eigen::VectorXd & tau ) const

Modifies the input joint effort vector by enforcing effort limits.

Parameters

tau	The input joint effort vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceJointLimits()

bool XBot::KinematicChain::enforceJointLimits ( Eigen::VectorXd & q ) const

Modifies the input joint position vector by enforcing joint limits.

Parameters

q	The input joint position vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ enforceVelocityLimit()

bool XBot::KinematicChain::enforceVelocityLimit ( Eigen::VectorXd & qdot ) const

Modifies the input joint velcoity vector by enforcing joint limits.

Parameters

qdot	The input joint velocity vector. Out-of-range components are set to the closest joint limit.

Returns: True if the provided vector has the correct size.

◆ getBaseLinkName()

const std::string & XBot::KinematicChain::getBaseLinkName ( ) const

Method returning the name of the chain base link.

Returns: Base link name as const std::string&

◆ getChainDofIndex() [1/2]

int XBot::KinematicChain::getChainDofIndex ( const std::string & joint_name ) const

Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint name.

Parameters

joint_name the requested joint name

Returns: the chain dof index of a joint with the requested joint name

◆ getChainDofIndex() [2/2]

int XBot::KinematicChain::getChainDofIndex ( int joint_id ) const

Getter for the chain dof index (local index of a joint inside a chain, this means that the base link of the chain has dof index = 0, tip link of the chain has dof index = getJointNum()-1 ) of a joint with the requested joint id.

Parameters

joint_id the requested joint id

Returns: the chain dof index of a joint with the requested joint id

◆ getChainName()

const std::string & XBot::KinematicChain::getChainName ( ) const

Method returning the name of the chain.

Returns: Chain name as const std::string&

◆ getChainState() [1/3]

bool XBot::KinematicChain::getChainState	(	const std::string &	state_name,
		Eigen::VectorXd &	q
	)		const

Gets the chain joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The chain joint configuration as Eigen vector of joint positions, This is an output parameter; any contents present in the vector will be overwritten in this function.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getChainState() [2/3]

bool XBot::KinematicChain::getChainState	(	const std::string &	state_name,
		JointIdMap &	q
	)		const

Gets the chain joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The chain joint configuration as a map with key representing the joint ID (i.e. numerical name of the joint) and values representing joint positions. This is an output parameter; it will not be cleared before being filled.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getChainState() [3/3]

bool XBot::KinematicChain::getChainState	(	const std::string &	state_name,
		JointNameMap &	q
	)		const

Gets the chain joints group state configuration as specified in the robot SRDF.

Parameters

state_name	The name of the requested group state.
q	The chain joint configuration as a map with key representing joint names and values representing joint positions. This is an output parameter; it will not be cleared before being filled.

Returns: True if the state_name exists in the SRDF, false otherwise.

◆ getChildLinkName()

const std::string & XBot::KinematicChain::getChildLinkName ( int i ) const

Method returning the name of the child link corresponding to the i-th joint of the chain.

Parameters

i	The position of the joint along the chain (i = 0 refers to the joint attached to the base link)

Returns: The name of the child link of joint n° i

◆ getDamping() [1/4]

bool XBot::KinematicChain::getDamping ( Eigen::VectorXd & D ) const

◆ getDamping() [2/4]

double XBot::KinematicChain::getDamping ( int index ) const

◆ getDamping() [3/4]

bool XBot::KinematicChain::getDamping ( JointIdMap & D ) const

◆ getDamping() [4/4]

bool XBot::KinematicChain::getDamping ( JointNameMap & D ) const

◆ getEffortLimits() [1/2]

void XBot::KinematicChain::getEffortLimits ( Eigen::VectorXd & tau_max ) const

Gets a vector of the chain joint effort limits, as specified in the URDF file.

The vector is ordered from the chain base link to its tip link.

Parameters

qdot_max The output vector of the chain joints effort limits

Returns: void

◆ getEffortLimits() [2/2]

void XBot::KinematicChain::getEffortLimits	(	int	i,
		double &	tau_max
	)		const

Gets the effort limit of the i-th joint in the chain (from base link to tip link)

Parameters

i	The index of the joint along the chain for which the joint limit is requested.
tau_max	The requested joint effort limit.

Returns: void

◆ getEffortReference() [1/4]

bool XBot::KinematicChain::getEffortReference ( Eigen::VectorXd & tau ) const

◆ getEffortReference() [2/4]

double XBot::KinematicChain::getEffortReference ( int index ) const

◆ getEffortReference() [3/4]

bool XBot::KinematicChain::getEffortReference ( JointIdMap & tau ) const

◆ getEffortReference() [4/4]

bool XBot::KinematicChain::getEffortReference ( JointNameMap & tau ) const

◆ getForceTorque() [1/2]

std::map< std::string, ForceTorqueSensor::ConstPtr > XBot::KinematicChain::getForceTorque ( ) const

Getter for the force-torque sensor map pertaining to the chain.

Returns: A map whose key is the sensor name (i.e. the name of the sensor link inside the URDF) and whose value is a shared pointer to the force torque sensor.

◆ getForceTorque() [2/2]

ForceTorqueSensor::ConstPtr XBot::KinematicChain::getForceTorque ( const std::string & parent_link_name ) const

Returns a force-torque sensor given its parent-link name.

Parameters

parent_link_name Name of the link to which the sensor is attached

Returns: A shared pointer to the required force-torque sensor. The returned pointer is null if the chain either does not contain a link named "parent_link_name" or such a link does not contain any FT.

◆ getForceTorqueInternal()

std::map< std::string, ForceTorqueSensor::Ptr > XBot::KinematicChain::getForceTorqueInternal ( ) const

protected

◆ getImu() [1/2]

std::map< std::string, ImuSensor::ConstPtr > XBot::KinematicChain::getImu ( ) const

Getter for the IMU sensor map pertaining to the chain.

Returns: A map whose key is the sensor name (i.e. the name of the sensor link inside the URDF) and whose value is a shared pointer to the IMU sensor.

◆ getImu() [2/2]

ImuSensor::ConstPtr XBot::KinematicChain::getImu ( const std::string & parent_link_name ) const

Returns an IMU sensor given its parent-link name.

Parameters

parent_link_name Name of the link to which the sensor is attached

Returns: A shared pointer to the required IMU sensor. The returned pointer is null if the chain either does not contain a link named "parent_link_name" or such a link does not contain any IMU.

◆ getImuInternal()

std::map< std::string, ImuSensor::Ptr > XBot::KinematicChain::getImuInternal ( ) const

protected

◆ getJoint()

Joint::ConstPtr XBot::KinematicChain::getJoint ( int i ) const

Getter for the i-th Joint Ptr.

Parameters

i	index inside the chain (i=0 is the child joint of base link)

Returns: A shared pointer to the requested joint

◆ getJointAcceleration() [1/4]

bool XBot::KinematicChain::getJointAcceleration ( Eigen::VectorXd & qddot ) const

◆ getJointAcceleration() [2/4]

double XBot::KinematicChain::getJointAcceleration ( int index ) const

◆ getJointAcceleration() [3/4]

bool XBot::KinematicChain::getJointAcceleration ( JointIdMap & qddot ) const

◆ getJointAcceleration() [4/4]

bool XBot::KinematicChain::getJointAcceleration ( JointNameMap & qddot ) const

◆ getJointEffort() [1/4]

bool XBot::KinematicChain::getJointEffort ( Eigen::VectorXd & tau ) const

◆ getJointEffort() [2/4]

double XBot::KinematicChain::getJointEffort ( int index ) const

◆ getJointEffort() [3/4]

bool XBot::KinematicChain::getJointEffort ( JointIdMap & tau ) const

◆ getJointEffort() [4/4]

bool XBot::KinematicChain::getJointEffort ( JointNameMap & tau ) const

◆ getJointId()

int XBot::KinematicChain::getJointId ( int i ) const

Method returning the ID of the i-th joint of the chain.

Parameters

i	The position of the joint whose ID is queried (i = 0 refers to the joint attached to the base link)

Returns: The ID of the joint n° i

◆ getJointIds()

const std::vector< int > & XBot::KinematicChain::getJointIds ( ) const

Returns a vector containing the IDs of all joints in the chain, from base link to tip link.

Returns: a const reference to the vector of joint IDs

◆ getJointInternal()

Joint::Ptr XBot::KinematicChain::getJointInternal ( int i ) const

protected

Getter for the i-th Joint Ptr.

Parameters

i	index inside the chain (i=0 is the child joint of base link)

Returns: A shared pointer to the requested joint

◆ getJointLimits() [1/2]

void XBot::KinematicChain::getJointLimits	(	Eigen::VectorXd &	q_min,
		Eigen::VectorXd &	q_max
	)		const

Gets a vector of the chain joint limits, as specified in the URDF file.

The vector is ordered from the chain base link to its tip link.

Parameters

q_min	The output vector of the chain joints lower limits.
q_max	The output vector of the chain joints upper limits.

Returns: void

◆ getJointLimits() [2/2]

void XBot::KinematicChain::getJointLimits	(	int	i,
		double &	q_min,
		double &	q_max
	)		const

Gets the lower and upper joint limits of the i-th joint in the chain (from base link to tip link)

Parameters

i	The index of the joint along the chain for which the joint limits are requested.
q_min	The required joint lower limit.
q_max	The required joint upper limit.

Returns: void

◆ getJointName()

const std::string & XBot::KinematicChain::getJointName ( int i ) const

Method returning the name of the i-th joint of the chain.

Parameters

i	The position of the joint whose name is queried (i = 0 refers to the joint attached to the base link)

Returns: The name of the joint n° i

◆ getJointNames()

const std::vector< std::string > & XBot::KinematicChain::getJointNames ( ) const

Returns a vector containing the namess of all joints in the chain, from base link to tip link.

Returns: a const reference to the vector of joint names

◆ getJointNum()

int XBot::KinematicChain::getJointNum ( ) const

Method returning the number of enabled joints belonging to the chain.

Returns: The number of enabled joints belonging to the chain

◆ getJointPosition() [1/4]

bool XBot::KinematicChain::getJointPosition ( Eigen::VectorXd & q ) const

◆ getJointPosition() [2/4]

double XBot::KinematicChain::getJointPosition ( int index ) const

◆ getJointPosition() [3/4]

bool XBot::KinematicChain::getJointPosition ( JointIdMap & q ) const

◆ getJointPosition() [4/4]

bool XBot::KinematicChain::getJointPosition ( JointNameMap & q ) const

◆ getJointVelocity() [1/4]

bool XBot::KinematicChain::getJointVelocity ( Eigen::VectorXd & qdot ) const

◆ getJointVelocity() [2/4]

double XBot::KinematicChain::getJointVelocity ( int index ) const

◆ getJointVelocity() [3/4]

bool XBot::KinematicChain::getJointVelocity ( JointIdMap & qdot ) const

◆ getJointVelocity() [4/4]

bool XBot::KinematicChain::getJointVelocity ( JointNameMap & qdot ) const

◆ getMotorPosition() [1/4]

bool XBot::KinematicChain::getMotorPosition ( Eigen::VectorXd & q ) const

◆ getMotorPosition() [2/4]

double XBot::KinematicChain::getMotorPosition ( int index ) const

◆ getMotorPosition() [3/4]

bool XBot::KinematicChain::getMotorPosition ( JointIdMap & q ) const

◆ getMotorPosition() [4/4]

bool XBot::KinematicChain::getMotorPosition ( JointNameMap & q ) const

◆ getMotorVelocity() [1/4]

bool XBot::KinematicChain::getMotorVelocity ( Eigen::VectorXd & qdot ) const

◆ getMotorVelocity() [2/4]

double XBot::KinematicChain::getMotorVelocity ( int index ) const

◆ getMotorVelocity() [3/4]

bool XBot::KinematicChain::getMotorVelocity ( JointIdMap & qdot ) const

◆ getMotorVelocity() [4/4]

bool XBot::KinematicChain::getMotorVelocity ( JointNameMap & qdot ) const

◆ getParentLinkName()

const std::string & XBot::KinematicChain::getParentLinkName ( int i ) const

Method returning the name of the parent link corresponding to the i-th joint of the chain.

Parameters

i	The position of the joint along the chain (i = 0 refers to the joint attached to the base link)

Returns: The name of the parent link of joint n° i

◆ getPositionReference() [1/4]

bool XBot::KinematicChain::getPositionReference ( Eigen::VectorXd & q ) const

◆ getPositionReference() [2/4]

double XBot::KinematicChain::getPositionReference ( int index ) const

◆ getPositionReference() [3/4]

bool XBot::KinematicChain::getPositionReference ( JointIdMap & q ) const

◆ getPositionReference() [4/4]

bool XBot::KinematicChain::getPositionReference ( JointNameMap & q ) const

◆ getStiffness() [1/4]

bool XBot::KinematicChain::getStiffness ( Eigen::VectorXd & K ) const

◆ getStiffness() [2/4]

double XBot::KinematicChain::getStiffness ( int index ) const

◆ getStiffness() [3/4]

bool XBot::KinematicChain::getStiffness ( JointIdMap & K ) const

◆ getStiffness() [4/4]

bool XBot::KinematicChain::getStiffness ( JointNameMap & K ) const

◆ getTemperature() [1/4]

bool XBot::KinematicChain::getTemperature ( Eigen::VectorXd & temp ) const

◆ getTemperature() [2/4]

double XBot::KinematicChain::getTemperature ( int index ) const

◆ getTemperature() [3/4]

bool XBot::KinematicChain::getTemperature ( JointIdMap & temp ) const

◆ getTemperature() [4/4]

bool XBot::KinematicChain::getTemperature ( JointNameMap & temp ) const

◆ getTipLinkName()

const std::string & XBot::KinematicChain::getTipLinkName ( ) const

Method returning the name of the chain tip link.

Returns: Tip link name as const std::string&

◆ getUrdfJoints()

const std::vector< urdf::JointConstSharedPtr > & XBot::KinematicChain::getUrdfJoints ( ) const

Method returning the vector of urdf::Joints corresponding to the chain.

Returns: const std::vector< urdf::JointConstSharedPtr>&

◆ getUrdfLinks()

const std::vector< urdf::LinkConstSharedPtr > & XBot::KinematicChain::getUrdfLinks ( ) const

Method returning the vector of urdf::Links corresponding to the chain.

Returns: const std::vector< urdf::LinkConstSharedPtr>&

◆ getVelocityLimits() [1/2]

void XBot::KinematicChain::getVelocityLimits ( Eigen::VectorXd & qdot_max ) const

Gets a vector of the chain joint velocity limits, as specified in the URDF file.

The vector is ordered from the chain base link to its tip link.

Parameters

qdot_max The output vector of the chain joints velocity limits

Returns: void

◆ getVelocityLimits() [2/2]

void XBot::KinematicChain::getVelocityLimits	(	int	i,
		double &	qdot_max
	)		const

Gets the velocity limit of the i-th joint in the chain (from base link to tip link)

Parameters

i	The index of the joint along the chain for which the joint limit is requested.
qdot_max	The requested joint velocity limit.

Returns: void

◆ getVelocityReference() [1/4]

bool XBot::KinematicChain::getVelocityReference ( Eigen::VectorXd & qdot ) const

◆ getVelocityReference() [2/4]

double XBot::KinematicChain::getVelocityReference ( int index ) const

◆ getVelocityReference() [3/4]

bool XBot::KinematicChain::getVelocityReference ( JointIdMap & qdot ) const

◆ getVelocityReference() [4/4]

bool XBot::KinematicChain::getVelocityReference ( JointNameMap & qdot ) const

◆ hasJoint() [1/2]

bool XBot::KinematicChain::hasJoint ( const std::string & joint_name ) const

check if the chain has a joint with a certain name

Parameters

joint_name the requested joint name

Returns: true if the joint with joint_name is present in the chain

◆ hasJoint() [2/2]

bool XBot::KinematicChain::hasJoint ( int joint_id ) const

check if the chain has a joint with a certain id

Parameters

joint_id the requested joint id

Returns: true if the joint with with_id is present in the chain

◆ isVirtual()

bool XBot::KinematicChain::isVirtual ( ) const

Method for determining whether a chain is virtual, i.e.

contains all virtual joints

Returns: A boolean set to true if chain is virtual, false otherwise.

◆ mapToEigen() [1/2]

bool XBot::KinematicChain::mapToEigen	(	const JointIdMap &	id_map,
		Eigen::VectorXd &	eigen_vector
	)		const

Converts a state vector for an arbitrary subset of the chain state (specified as a JointIdMap) to its Eigen representation.

Note that the output vector is resized and set to zero if its size does not match the number of joints. Otherwise, unspecified components are left untouched.

Parameters

id_map	A JointIdMap contaning the state of the robot (or a part of it)
eigen_vector	The output vector to be filled.

Returns: True if the input map contains valid joints.

◆ mapToEigen() [2/2]

bool XBot::KinematicChain::mapToEigen	(	const JointNameMap &	name_map,
		Eigen::VectorXd &	eigen_vector
	)		const

Converts a state vector for an arbitrary subset of the chain state (specified as a JointNameMap) to its Eigen representation.

Note that the output vector is resized and set to zero if its size does not match the number of joints. Otherwise, unspecified components are left untouched.

Parameters

name_map	A JointNameMap contaning the state of the robot (or a part of it)
eigen_vector	The output vector to be filled.

Returns: True if the input map contains valid joints.

◆ operator=()

KinematicChain & XBot::KinematicChain::operator= ( const KinematicChain & rhs )

Custom copy assignment, which guarantees independence between copies by performing a deep copy.

◆ print()

void XBot::KinematicChain::print ( ) const

Prints a pretty table about chain state.

Returns: void

◆ printTracking()

void XBot::KinematicChain::printTracking ( ) const

Prints a pretty table about chain tracking.

Returns: void

◆ pushBackJoint()

void XBot::KinematicChain::pushBackJoint ( Joint::Ptr joint )

add a joint in the kinematic chain pushing it in the end of the chain

Parameters

joint the joint to add

Returns: void

◆ removeJoint()

void XBot::KinematicChain::removeJoint ( int i )

remove the i-th joint in the kinematic chain

Parameters

i	the joint i-th position

Returns: void

◆ setDamping() [1/4]

bool XBot::KinematicChain::setDamping ( const Eigen::VectorXd & D )

◆ setDamping() [2/4]

bool XBot::KinematicChain::setDamping ( const JointIdMap & D )

◆ setDamping() [3/4]

bool XBot::KinematicChain::setDamping ( const JointNameMap & D )

◆ setDamping() [4/4]

bool XBot::KinematicChain::setDamping	(	int	i,
		double	D
	)

◆ setEffortReference() [1/4]

bool XBot::KinematicChain::setEffortReference ( const Eigen::VectorXd & tau )

◆ setEffortReference() [2/4]

bool XBot::KinematicChain::setEffortReference ( const JointIdMap & tau )

◆ setEffortReference() [3/4]

bool XBot::KinematicChain::setEffortReference ( const JointNameMap & tau )

◆ setEffortReference() [4/4]

bool XBot::KinematicChain::setEffortReference	(	int	i,
		double	tau
	)

◆ setJointAcceleration() [1/4]

bool XBot::KinematicChain::setJointAcceleration ( const Eigen::VectorXd & qddot )

◆ setJointAcceleration() [2/4]

bool XBot::KinematicChain::setJointAcceleration ( const JointIdMap & qddot )

◆ setJointAcceleration() [3/4]

bool XBot::KinematicChain::setJointAcceleration ( const JointNameMap & qddot )

◆ setJointAcceleration() [4/4]

bool XBot::KinematicChain::setJointAcceleration	(	int	i,
		double	qddot
	)

◆ setJointEffort() [1/4]

bool XBot::KinematicChain::setJointEffort ( const Eigen::VectorXd & tau )

◆ setJointEffort() [2/4]

bool XBot::KinematicChain::setJointEffort ( const JointIdMap & tau )

◆ setJointEffort() [3/4]

bool XBot::KinematicChain::setJointEffort ( const JointNameMap & tau )

◆ setJointEffort() [4/4]

bool XBot::KinematicChain::setJointEffort	(	int	i,
		double	tau
	)

◆ setJointPosition() [1/4]

bool XBot::KinematicChain::setJointPosition ( const Eigen::VectorXd & q )

◆ setJointPosition() [2/4]

bool XBot::KinematicChain::setJointPosition ( const JointIdMap & q )

◆ setJointPosition() [3/4]

bool XBot::KinematicChain::setJointPosition ( const JointNameMap & q )

◆ setJointPosition() [4/4]

bool XBot::KinematicChain::setJointPosition	(	int	i,
		double	q
	)

◆ setJointVelocity() [1/4]

bool XBot::KinematicChain::setJointVelocity ( const Eigen::VectorXd & qdot )

◆ setJointVelocity() [2/4]

bool XBot::KinematicChain::setJointVelocity ( const JointIdMap & qdot )

◆ setJointVelocity() [3/4]

bool XBot::KinematicChain::setJointVelocity ( const JointNameMap & qdot )

◆ setJointVelocity() [4/4]

bool XBot::KinematicChain::setJointVelocity	(	int	i,
		double	qdot
	)

◆ setMotorPosition() [1/4]

bool XBot::KinematicChain::setMotorPosition ( const Eigen::VectorXd & q )

◆ setMotorPosition() [2/4]

bool XBot::KinematicChain::setMotorPosition ( const JointIdMap & q )

◆ setMotorPosition() [3/4]

bool XBot::KinematicChain::setMotorPosition ( const JointNameMap & q )

◆ setMotorPosition() [4/4]

bool XBot::KinematicChain::setMotorPosition	(	int	i,
		double	q
	)

◆ setMotorVelocity() [1/4]

bool XBot::KinematicChain::setMotorVelocity ( const Eigen::VectorXd & qdot )

◆ setMotorVelocity() [2/4]

bool XBot::KinematicChain::setMotorVelocity ( const JointIdMap & qdot )

◆ setMotorVelocity() [3/4]

bool XBot::KinematicChain::setMotorVelocity ( const JointNameMap & qdot )

◆ setMotorVelocity() [4/4]

bool XBot::KinematicChain::setMotorVelocity	(	int	i,
		double	qdot
	)

◆ setPositionReference() [1/4]

bool XBot::KinematicChain::setPositionReference ( const Eigen::VectorXd & q )

◆ setPositionReference() [2/4]

bool XBot::KinematicChain::setPositionReference ( const JointIdMap & q )

◆ setPositionReference() [3/4]

bool XBot::KinematicChain::setPositionReference ( const JointNameMap & q )

◆ setPositionReference() [4/4]

bool XBot::KinematicChain::setPositionReference	(	int	i,
		double	q
	)

◆ setStiffness() [1/4]

bool XBot::KinematicChain::setStiffness ( const Eigen::VectorXd & K )

◆ setStiffness() [2/4]

bool XBot::KinematicChain::setStiffness ( const JointIdMap & K )

◆ setStiffness() [3/4]

bool XBot::KinematicChain::setStiffness ( const JointNameMap & K )

◆ setStiffness() [4/4]

bool XBot::KinematicChain::setStiffness	(	int	i,
		double	K
	)

◆ setTemperature() [1/4]

bool XBot::KinematicChain::setTemperature ( const Eigen::VectorXd & temp )

◆ setTemperature() [2/4]

bool XBot::KinematicChain::setTemperature ( const JointIdMap & temp )

◆ setTemperature() [3/4]

bool XBot::KinematicChain::setTemperature ( const JointNameMap & temp )

◆ setTemperature() [4/4]

bool XBot::KinematicChain::setTemperature	(	int	i,
		double	temp
	)

◆ setVelocityReference() [1/4]

bool XBot::KinematicChain::setVelocityReference ( const Eigen::VectorXd & qdot )

◆ setVelocityReference() [2/4]

bool XBot::KinematicChain::setVelocityReference ( const JointIdMap & qdot )

◆ setVelocityReference() [3/4]

bool XBot::KinematicChain::setVelocityReference ( const JointNameMap & qdot )

◆ setVelocityReference() [4/4]

bool XBot::KinematicChain::setVelocityReference	(	int	i,
		double	qdot
	)

◆ shallowCopy()

void XBot::KinematicChain::shallowCopy ( const KinematicChain & chain )

Updates the current object (this) by performing a shallow copy with the chain passed as argument.

Parameters

chain the chain to shallow copy

Returns: void

◆ syncFrom()

template<typename... SyncFlags>

bool XBot::KinematicChain::syncFrom	(	const KinematicChain &	other,
		SyncFlags...	flags
	)

Synchronize the current KinematicChain with another KinematicChain object.

Parameters

other The KinematicChain object from which we synchronize the current object

flags

Flags to specify what part of the state must be synchronized. By default (i.e. if this argument is omitted) the whole state is synchronized. Otherwise, an arbitrary number of flags can be specified in order to select a subset of the state. The flags must be of the enum type XBot::Sync, which can take the following values:

Returns: bool

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const XBot::KinematicChain &	c
	)

friend

Member Data Documentation

◆ _ft_map

std::map<std::string, ForceTorqueSensor::Ptr> XBot::KinematicChain::_ft_map

protected

◆ _ft_vector

std::vector<ForceTorqueSensor::Ptr> XBot::KinematicChain::_ft_vector

protected

◆ _imu_map

std::map<std::string, ImuSensor::Ptr> XBot::KinematicChain::_imu_map

protected

◆ _imu_vector

std::vector<ImuSensor::Ptr> XBot::KinematicChain::_imu_vector

protected

◆ _joint_id_map

std::map<int, XBot::Joint::Ptr> XBot::KinematicChain::_joint_id_map

protected

◆ _joint_name_map

std::map<std::string, XBot::Joint::Ptr> XBot::KinematicChain::_joint_name_map

protected

◆ _joint_vector

std::vector<XBot::Joint::Ptr> XBot::KinematicChain::_joint_vector

protected

The documentation for this class was generated from the following files:

/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/include/XBotInterface/KinematicChain.h
/home/travis/build/ADVRHumanoids/forest_ws/src/XBotInterface/src/KinematicChain.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ KinematicChain() [1/4]

◆ KinematicChain() [2/4]

◆ KinematicChain() [3/4]

◆ KinematicChain() [4/4]

Member Function Documentation

◆ checkEffortLimits() [1/2]

◆ checkEffortLimits() [2/2]

◆ checkJointLimits() [1/2]

◆ checkJointLimits() [2/2]

◆ checkVelocityLimits() [1/2]

◆ checkVelocityLimits() [2/2]

◆ eigenToMap() [1/2]

◆ eigenToMap() [2/2]

◆ enforceEffortLimit()

◆ enforceJointLimits()

◆ enforceVelocityLimit()

◆ getBaseLinkName()

◆ getChainDofIndex() [1/2]

◆ getChainDofIndex() [2/2]

◆ getChainName()

◆ getChainState() [1/3]

◆ getChainState() [2/3]

◆ getChainState() [3/3]

◆ getChildLinkName()

◆ getDamping() [1/4]

◆ getDamping() [2/4]

◆ getDamping() [3/4]

◆ getDamping() [4/4]

◆ getEffortLimits() [1/2]

◆ getEffortLimits() [2/2]

◆ getEffortReference() [1/4]

◆ getEffortReference() [2/4]

◆ getEffortReference() [3/4]

◆ getEffortReference() [4/4]

◆ getForceTorque() [1/2]

◆ getForceTorque() [2/2]

◆ getForceTorqueInternal()

◆ getImu() [1/2]

◆ getImu() [2/2]

◆ getImuInternal()

◆ getJoint()

◆ getJointAcceleration() [1/4]

◆ getJointAcceleration() [2/4]

◆ getJointAcceleration() [3/4]

◆ getJointAcceleration() [4/4]

◆ getJointEffort() [1/4]

◆ getJointEffort() [2/4]

◆ getJointEffort() [3/4]

◆ getJointEffort() [4/4]

◆ getJointId()

◆ getJointIds()

◆ getJointInternal()

◆ getJointLimits() [1/2]

◆ getJointLimits() [2/2]

◆ getJointName()

◆ getJointNames()

◆ getJointNum()

◆ getJointPosition() [1/4]

◆ getJointPosition() [2/4]

◆ getJointPosition() [3/4]

◆ getJointPosition() [4/4]

◆ getJointVelocity() [1/4]

◆ getJointVelocity() [2/4]

◆ getJointVelocity() [3/4]

◆ getJointVelocity() [4/4]

◆ getMotorPosition() [1/4]

◆ getMotorPosition() [2/4]

◆ getMotorPosition() [3/4]

◆ getMotorPosition() [4/4]

◆ getMotorVelocity() [1/4]